This note describes a logic-based hybrid controller for the well-studied nonholonomic integrator. Our controller provides Lyapunov stability and is designed so that the control signals remain uniformly bounded and have at most a finite number of discontinuities in any finite interval. In particular, no 'chattering' occurs. Two alternative controllers, which use only partial state information, are also presented.
|Number of pages
|Controle and Automacao
|Published - May 1998
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering